Affiliation:
1. Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, UTM Skudai, Malaysia
Abstract
In this paper, a hybrid control system called as backstepping adaptive fuzzy control system, which integrates nominal and compensation controller is developed for autonomous quadrotor helicopter with inherent time-varying disturbance. In this hybrid control system, the nominal controller based on backstepping technique is the main controller, and the compensation controller containing a fuzzy control approach is used to eliminate the effect of uncertainties caused by external disturbance. In addition, in order to relax the requirement of prior knowledge on the bound of external disturbance, an online adaptation law is derived. Asymptotical stability of the closed-loop control system is analytically proven via the Lyapunov theorem. For the problem of determining the backstepping control parameters, particle swarm optimization algorithm has been employed. Finally, the designed controller is experimentally evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development.
Subject
Mechanical Engineering,Aerospace Engineering
Cited by
15 articles.
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